diff --git a/hw/bsp/c-mini/config/balance_infantry.config b/hw/bsp/c-mini/config/balance_infantry.config
index 2b514d34f8a31e2d2cfcfcc23b2b64b0e7cdfff4..ff2ffab67041d3e4b79253cc6fb5dc54b5b6cd4b 100644
--- a/hw/bsp/c-mini/config/balance_infantry.config
+++ b/hw/bsp/c-mini/config/balance_infantry.config
@@ -42,7 +42,7 @@ CONFIG_auto_generated_config_prefix_robot-balance_infantry=y
 #
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机
@@ -55,7 +55,7 @@ CONFIG_auto_generated_config_prefix_device-imu=y
 CONFIG_DEVICE_CAN_IMU_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-servo is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-referee=y
 CONFIG_DEVICE_REF_TRANS_TASK_STACK_DEPTH=256
 CONFIG_DEVICE_REF_RECV_TASK_STACK_DEPTH=256
diff --git a/hw/bsp/c-mini/config/infantry.config b/hw/bsp/c-mini/config/infantry.config
index 77e096d030dfe447a7138dcf762f89c4a568b048..96e18272c4ed0c0b7a60461a4e1c0ed3c532eb13 100644
--- a/hw/bsp/c-mini/config/infantry.config
+++ b/hw/bsp/c-mini/config/infantry.config
@@ -72,11 +72,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 # CONFIG_auto_generated_config_prefix_device-blink_led is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机
diff --git a/hw/bsp/rm-c/config/dart.config b/hw/bsp/rm-c/config/dart.config
index effa32bd05107a17d76804db50f0f80817bfa53d..5670e76df3aaf6ce359301c6e133aa64ad0202a0 100644
--- a/hw/bsp/rm-c/config/dart.config
+++ b/hw/bsp/rm-c/config/dart.config
@@ -81,7 +81,7 @@ CONFIG_auto_generated_config_prefix_device-mech=y
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 # CONFIG_auto_generated_config_prefix_device-blink_led is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-ai is not set
diff --git a/hw/bsp/rm-c/config/engineer.config b/hw/bsp/rm-c/config/engineer.config
index a72c7be09647d8dcc5d76221398a2de41bc80436..c7b132a83d76593fe12aefdca21cfd7fb6d4d178 100644
--- a/hw/bsp/rm-c/config/engineer.config
+++ b/hw/bsp/rm-c/config/engineer.config
@@ -79,7 +79,7 @@ CONFIG_auto_generated_config_prefix_device-mech=y
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 CONFIG_auto_generated_config_prefix_device-blink_led=y
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-ai is not set
diff --git a/hw/bsp/rm-c/config/hero.config b/hw/bsp/rm-c/config/hero.config
index e316e0c0d6a3a4c41a0f1232212916e3f2128eac..9a5ca453ec2affc1e994f3a660a9a6627f63db15 100644
--- a/hw/bsp/rm-c/config/hero.config
+++ b/hw/bsp/rm-c/config/hero.config
@@ -44,7 +44,7 @@ CONFIG_auto_generated_config_prefix_device-imu=y
 CONFIG_DEVICE_CAN_IMU_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-wearlab is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 # CONFIG_auto_generated_config_prefix_device-mech is not set
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 CONFIG_auto_generated_config_prefix_device-ahrs=y
@@ -52,7 +52,7 @@ CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 CONFIG_auto_generated_config_prefix_device-servo=y
 CONFIG_auto_generated_config_prefix_device-motor=y
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机
diff --git a/hw/bsp/rm-c/config/infantry.config b/hw/bsp/rm-c/config/infantry.config
index 77e096d030dfe447a7138dcf762f89c4a568b048..96e18272c4ed0c0b7a60461a4e1c0ed3c532eb13 100644
--- a/hw/bsp/rm-c/config/infantry.config
+++ b/hw/bsp/rm-c/config/infantry.config
@@ -72,11 +72,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 # CONFIG_auto_generated_config_prefix_device-blink_led is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机
diff --git a/hw/bsp/rm-c/config/sentry.config b/hw/bsp/rm-c/config/sentry.config
index f34bd21281cca5bf631e917b65483dfeeb07b8f0..c192aafcee10a4e2f1cc22d2498f8cdf551c0228 100644
--- a/hw/bsp/rm-c/config/sentry.config
+++ b/hw/bsp/rm-c/config/sentry.config
@@ -89,11 +89,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 # CONFIG_auto_generated_config_prefix_device-blink_led is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机
diff --git a/src/robot/sentry/robot.cpp b/src/robot/sentry/robot.cpp
index 45e586b77588e4e37d9aba4a8a7ff5b3e431081f..5bd328f21a03fe2d83f294c872a96817aeb96d3f 100644
--- a/src/robot/sentry/robot.cpp
+++ b/src/robot/sentry/robot.cpp
@@ -7,7 +7,7 @@
 #include "system.hpp"
 
 /* clang-format off */
-Robot::Infantry::Param param = {
+Robot::Sentry::Param param = {
     .chassis={
       .type = Component::Mixer::MECANUM,
 
@@ -405,5 +405,5 @@ Robot::Infantry::Param param = {
 /* clang-format on */
 
 void robot_init() {
-  System::Start<Robot::Infantry, Robot::Infantry::Param>(param, 500.0f);
+  System::Start<Robot::Sentry, Robot::Sentry::Param>(param, 500.0f);
 }
diff --git a/src/robot/sentry/robot.hpp b/src/robot/sentry/robot.hpp
index 2c8444cef6922acefee7745d2f5aeed5ce9c8ee3..054997feb3eafcc99c8ae9bf86459bffac071070 100644
--- a/src/robot/sentry/robot.hpp
+++ b/src/robot/sentry/robot.hpp
@@ -13,7 +13,7 @@
 
 void robot_init();
 namespace Robot {
-class Infantry {
+class Sentry {
  public:
   typedef struct Param {
     Module::RMChassis::Param chassis;
@@ -38,7 +38,7 @@ class Infantry {
   Module::Gimbal gimbal_;
   Module::Launcher launcher_;
 
-  Infantry(Param& param, float control_freq)
+  Sentry(Param& param, float control_freq)
       : cmd_(Component::CMD::CMD_AUTO_CTRL),
         bmi088_(param.bmi088_rot),
         cap_(param.cap),